diff --git a/SimDynamics/examples/SimDynamicsViewer/simDynamicsViewer.ui b/SimDynamics/examples/SimDynamicsViewer/simDynamicsViewer.ui
index 697a061f937c0f21c3b9817da26c747675f54704..fc7e4dc20dd50711c83907717bdfd097c14aaeda 100644
--- a/SimDynamics/examples/SimDynamicsViewer/simDynamicsViewer.ui
+++ b/SimDynamics/examples/SimDynamicsViewer/simDynamicsViewer.ui
@@ -42,6 +42,14 @@
<set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set>
</property>
<widget class="QWidget" name="scrollAreaWidgetContents_3">
+ <property name="geometry">
+ <rect>
+ <x>0</x>
+ <y>0</y>
+ <width>400</width>
+ <height>1075</height>
+ </rect>
+ </property>
<property name="sizePolicy">
<sizepolicy hsizetype="Fixed" vsizetype="Expanding">
<horstretch>0</horstretch>
@@ -65,64 +73,111 @@
<number>0</number>
</property>
<item>
- <layout class="QHBoxLayout" name="horizontalLayout">
- <item>
- <widget class="QPushButton" name="pushButtonLoad">
- <property name="text">
- <string>Load Robot</string>
- </property>
- </widget>
- </item>
- <item>
- <spacer name="horizontalSpacer_2">
- <property name="orientation">
- <enum>Qt::Horizontal</enum>
- </property>
- <property name="sizeHint" stdset="0">
- <size>
- <width>40</width>
- <height>20</height>
- </size>
- </property>
- </spacer>
- </item>
- <item>
- <widget class="QPushButton" name="pushButton_reloadRobot">
- <property name="text">
- <string>Reload Robot</string>
- </property>
- </widget>
- </item>
- <item>
- <spacer name="horizontalSpacer">
- <property name="orientation">
- <enum>Qt::Horizontal</enum>
- </property>
- <property name="sizeHint" stdset="0">
- <size>
- <width>40</width>
- <height>20</height>
- </size>
- </property>
- </spacer>
- </item>
- <item>
- <widget class="QPushButton" name="pushButtonAddObject">
- <property name="text">
- <string>Add Object</string>
- </property>
- </widget>
- </item>
- </layout>
- </item>
- <item>
- <widget class="QCheckBox" name="checkBox_selfCol">
- <property name="text">
- <string>Enable self collision (requires robot reload)</string>
+ <widget class="QGroupBox" name="groupBox">
+ <property name="title">
+ <string>Loading</string>
</property>
- <property name="checked">
+ <property name="checkable">
<bool>true</bool>
</property>
+ <layout class="QVBoxLayout" name="verticalLayout">
+ <property name="spacing">
+ <number>0</number>
+ </property>
+ <property name="leftMargin">
+ <number>0</number>
+ </property>
+ <property name="topMargin">
+ <number>0</number>
+ </property>
+ <property name="rightMargin">
+ <number>0</number>
+ </property>
+ <property name="bottomMargin">
+ <number>0</number>
+ </property>
+ <item>
+ <widget class="QWidget" name="widget" native="true">
+ <layout class="QGridLayout" name="gridLayout_5">
+ <item row="3" column="0">
+ <widget class="QCheckBox" name="checkBox_selfCol">
+ <property name="text">
+ <string>Enable self collision</string>
+ </property>
+ <property name="checked">
+ <bool>true</bool>
+ </property>
+ </widget>
+ </item>
+ <item row="2" column="0">
+ <widget class="QCheckBox" name="checkBox_kinematicJoints">
+ <property name="text">
+ <string>All Joints Kinematic</string>
+ </property>
+ </widget>
+ </item>
+ <item row="1" column="0">
+ <widget class="QLabel" name="label_16">
+ <property name="text">
+ <string>Changing any of options reqires a robot reload</string>
+ </property>
+ </widget>
+ </item>
+ <item row="0" column="0">
+ <layout class="QHBoxLayout" name="horizontalLayout">
+ <item>
+ <widget class="QPushButton" name="pushButtonLoad">
+ <property name="text">
+ <string>Load Robot</string>
+ </property>
+ </widget>
+ </item>
+ <item>
+ <spacer name="horizontalSpacer_2">
+ <property name="orientation">
+ <enum>Qt::Horizontal</enum>
+ </property>
+ <property name="sizeHint" stdset="0">
+ <size>
+ <width>40</width>
+ <height>20</height>
+ </size>
+ </property>
+ </spacer>
+ </item>
+ <item>
+ <widget class="QPushButton" name="pushButton_reloadRobot">
+ <property name="text">
+ <string>Reload Robot</string>
+ </property>
+ </widget>
+ </item>
+ <item>
+ <spacer name="horizontalSpacer">
+ <property name="orientation">
+ <enum>Qt::Horizontal</enum>
+ </property>
+ <property name="sizeHint" stdset="0">
+ <size>
+ <width>40</width>
+ <height>20</height>
+ </size>
+ </property>
+ </spacer>
+ </item>
+ <item>
+ <widget class="QPushButton" name="pushButtonAddObject">
+ <property name="text">
+ <string>Add Object</string>
+ </property>
+ </widget>
+ </item>
+ </layout>
+ </item>
+ </layout>
+ </widget>
+ </item>
+ </layout>
</widget>
</item>
<item>
@@ -267,6 +322,9 @@
<property name="maximum">
<double>9999999999.000000000000000</double>
</property>
+ <property name="singleStep">
+ <double>0.100000000000000</double>
+ </property>
</widget>
</item>
<item row="1" column="1">
@@ -277,6 +335,9 @@
<property name="maximum">
<double>9999999999.000000000000000</double>
</property>
+ <property name="singleStep">
+ <double>0.100000000000000</double>
+ </property>
</widget>
</item>
<item row="1" column="2">
@@ -287,6 +348,9 @@
<property name="maximum">
<double>9999999999.000000000000000</double>
</property>
+ <property name="singleStep">
+ <double>0.100000000000000</double>
+ </property>
</widget>
</item>
<item row="0" column="2">
@@ -313,6 +377,13 @@
</property>
</widget>
</item>
+ <item row="2" column="2">
+ <widget class="QCheckBox" name="checkBoxAutoMoveRobot">
+ <property name="text">
+ <string>Auto</string>
+ </property>
+ </widget>
+ </item>
</layout>
</widget>
</item>
@@ -770,12 +841,61 @@
<x>0</x>
<y>0</y>
<width>913</width>
- <height>25</height>
+ <height>22</height>
</rect>
</property>
</widget>
<widget class="QStatusBar" name="statusbar"/>
</widget>
<resources/>
- <connections/>
+ <connections>
+ <connection>
+ <sender>groupBox</sender>
+ <signal>clicked(bool)</signal>
+ <receiver>widget</receiver>
+ <slot>setVisible(bool)</slot>
+ <hints>
+ <hint type="sourcelabel">
+ <x>524</x>
+ <y>74</y>
+ </hint>
+ <hint type="destinationlabel">
+ <x>525</x>
+ <y>94</y>
+ </hint>
+ </hints>
+ </connection>
+ <connection>
+ <sender>checkBoxAutoMoveRobot</sender>
+ <signal>clicked(bool)</signal>
+ <receiver>button_reset</receiver>
+ <slot>setDisabled(bool)</slot>
+ <hints>
+ <hint type="sourcelabel">
+ <x>728</x>
+ <y>459</y>
+ </hint>
+ <hint type="destinationlabel">
+ <x>558</x>
+ <y>462</y>
+ </hint>
+ </hints>
+ </connection>
+ <connection>
+ <sender>checkBoxAutoMoveRobot</sender>
+ <signal>clicked(bool)</signal>
+ <receiver>button_set</receiver>
+ <slot>setDisabled(bool)</slot>
+ <hints>
+ <hint type="sourcelabel">
+ <x>755</x>
+ <y>472</y>
+ </hint>
+ <hint type="destinationlabel">
+ <x>817</x>
+ <y>472</y>
+ </hint>
+ </hints>
+ </connection>
+ </connections>
</ui>
diff --git a/SimDynamics/examples/SimDynamicsViewer/simDynamicsWindow.cpp b/SimDynamics/examples/SimDynamicsViewer/simDynamicsWindow.cpp
index 3ba15ec79ecf268ee86ce7d2e405914c4fb64d33..6d74b5acb7eafe912e8d9943f29e629e7f5c8725 100644
--- a/SimDynamics/examples/SimDynamicsViewer/simDynamicsWindow.cpp
+++ b/SimDynamics/examples/SimDynamicsViewer/simDynamicsWindow.cpp
@@ -85,11 +85,11 @@ SimDynamicsWindow::SimDynamicsWindow(std::string& sRobotFilename)
// register callback
float TIMER_MS = 30.0f;
SoSensorManager* sensor_mgr = SoDB::getSensorManager();
- timerSensor = new SoTimerSensor(timerCB, static_cast<void *>(this));
+ timerSensor = new SoTimerSensor(timerCB, static_cast<void*>(this));
timerSensor->setInterval(SbTime(TIMER_MS / 1000.0f));
sensor_mgr->insertTimerSensor(timerSensor);
- viewer->addStepCallback(stepCB, static_cast<void *>(this));
+ viewer->addStepCallback(stepCB, static_cast<void*>(this));
}
@@ -108,6 +108,10 @@ void SimDynamicsWindow::timerCB(void* data, SoSensor* /*sensor*/)
SimDynamicsWindow* window = static_cast<SimDynamicsWindow*>(data);
VR_ASSERT(window);
+ if (window->UI.checkBoxAutoMoveRobot->isChecked())
+ {
+ window->setPose();
+ }
// now its safe to update physical information and set the models to the according poses
window->updateJointInfo();
window->updateRobotInfo();
@@ -118,7 +122,7 @@ void SimDynamicsWindow::timerCB(void* data, SoSensor* /*sensor*/)
window->UI.label_simuStepCount->setText(QString::number(window->simuStepCount));
}
-void SimDynamicsWindow::stepCB(void *data, btScalar /*timeStep*/)
+void SimDynamicsWindow::stepCB(void* data, btScalar /*timeStep*/)
{
SimDynamicsWindow* window = static_cast<SimDynamicsWindow*>(data);
VR_ASSERT(window);
@@ -217,7 +221,7 @@ void SimDynamicsWindow::buildVisualization()
viewer->addVisualization(dynamicsRobot, colModel);
viewer->addVisualization(dynamicsObject, colModel);
- for (const auto & dynamicsObject : dynamicsObjects)
+ for (const auto& dynamicsObject : dynamicsObjects)
{
viewer->addVisualization(dynamicsObject, colModel);
}
@@ -244,7 +248,7 @@ void SimDynamicsWindow::comVisu()
{
std::vector<RobotNodePtr> n = robot->getRobotNodes();
- for (const auto & i : n)
+ for (const auto& i : n)
{
SoSeparator* sep = new SoSeparator;
comSep->addChild(sep);
@@ -300,7 +304,7 @@ void SimDynamicsWindow::updateJoints()
UI.comboBoxRobotNode->clear();
std::vector<RobotNodePtr> nodes = robot->getRobotNodes();
- for (auto & node : nodes)
+ for (auto& node : nodes)
{
if (node->isRotationalJoint() || node->isTranslationalJoint())
{
@@ -349,8 +353,15 @@ bool SimDynamicsWindow::loadRobot(std::string robotFilename)
//gp(2,3) = 5.0f;
gp(2, 3) = -bbox.getMin()(2) + 4.0f;
robot->setGlobalPose(gp);
+ if (UI.checkBox_kinematicJoints->isChecked())
+ {
+ for (auto n : robot->getRobotNodes())
+ {
+ n->setSimulationType(SceneObject::Physics::eKinematic);
+ }
+ }
dynamicsRobot = dynamicsWorld->CreateDynamicsRobot(robot);
- if(! UI.checkBox_selfCol->isChecked())
+ if (! UI.checkBox_selfCol->isChecked())
{
//we don't want to call this function with true (we would enable all collisions)
dynamicsRobot->enableSelfCollisions(false);
@@ -669,14 +680,14 @@ void SimDynamicsWindow::updateJointInfo()
info += "/";
info += tmp.toStdString();
- Eigen::Vector3f pos = rn->getGlobalPose().block<3,1>(0,3);
+ Eigen::Vector3f pos = rn->getGlobalPose().block<3, 1>(0, 3);
qGP = QString("GlobalPosition (simox): ") + QString::number(pos(0), 'f', 2) + " / " + QString::number(pos(1), 'f', 2) + " / " + QString::number(pos(2), 'f', 2);
auto rpy = VirtualRobot::MathTools::eigen4f2rpy(gp);
qGPRPY = "GlobalRPY (simox): " +
- QString::number(rpy(0), 'f', 2) + " / "+
- QString::number(rpy(1), 'f', 2) + " / "+
- QString::number(rpy(2), 'f', 2);
+ QString::number(rpy(0), 'f', 2) + " / " +
+ QString::number(rpy(1), 'f', 2) + " / " +
+ QString::number(rpy(2), 'f', 2);
gp = rn->getGlobalPose();
qVisu = QString("VISU (simox):");
@@ -719,7 +730,7 @@ void SimDynamicsWindow::updateJointInfo()
void SimDynamicsWindow::updateRobotInfo()
{
Eigen::Vector3f com = robot->getCoMGlobal();
- Eigen::Vector3f pos = robot->getGlobalPose().block<3,1>(0,3);
+ Eigen::Vector3f pos = robot->getGlobalPose().block<3, 1>(0, 3);
Eigen::Vector3f rpy = VirtualRobot::MathTools::eigen4f2rpy(robot->getGlobalPose());
UI.label_RobotPos->setText(QString::number(pos(0), 'f', 2) + " / " + QString::number(pos(1), 'f', 2) + " / " + QString::number(pos(2), 'f', 2));
@@ -727,12 +738,12 @@ void SimDynamicsWindow::updateRobotInfo()
UI.label_RobotCom->setText(QString::number(com(0), 'f', 2) + " / " + QString::number(com(1), 'f', 2) + " / " + QString::number(com(2), 'f', 2));
- Eigen::Vector3f rpos = robot->getRootNode()->getGlobalPose().block<3,1>(0,3);
+ Eigen::Vector3f rpos = robot->getRootNode()->getGlobalPose().block<3, 1>(0, 3);
Eigen::Vector3f rrpy = VirtualRobot::MathTools::eigen4f2rpy(robot->getRootNode()->getGlobalPose());
UI.label_RootNodePos->setText(QString::number(rpos(0), 'f', 2) + " / " + QString::number(rpos(1), 'f', 2) + " / " + QString::number(rpos(2), 'f', 2));
UI.label_RootNodeRPY->setText(QString::number(rrpy(0), 'f', 2) + " / " + QString::number(rrpy(1), 'f', 2) + " / " + QString::number(rrpy(2), 'f', 2));
- Eigen::Vector3f rltpos = robot->getRootNode()->getLocalTransformation().block<3,1>(0,3);
+ Eigen::Vector3f rltpos = robot->getRootNode()->getLocalTransformation().block<3, 1>(0, 3);
Eigen::Vector3f rltrpy = VirtualRobot::MathTools::eigen4f2rpy(robot->getRootNode()->getLocalTransformation());
UI.label_RootLocalTransfPos->setText(QString::number(rltpos(0), 'f', 2) + " / " + QString::number(rltpos(1), 'f', 2) + " / " + QString::number(rltpos(2), 'f', 2));
UI.label_RootLocalTransfRPY->setText(QString::number(rltrpy(0), 'f', 2) + " / " + QString::number(rltrpy(1), 'f', 2) + " / " + QString::number(rltrpy(2), 'f', 2));
@@ -802,7 +813,7 @@ void SimDynamicsWindow::updateContactVisu()
std::vector<SimDynamics::DynamicsEngine::DynamicsContactInfo> c = dynamicsWorld->getEngine()->getContacts();
- for (auto & i : c)
+ for (auto& i : c)
{
std::cout << "Contact: " << i.objectAName << " + " << i.objectBName << std::endl;
SoSeparator* normal = new SoSeparator;
@@ -999,7 +1010,7 @@ void SimDynamicsWindow::reloadRobot()
void SimDynamicsWindow::resetPose()
{
- Eigen::Vector3f rpos = robot->getRootNode()->getGlobalPose().block<3,1>(0,3);
+ Eigen::Vector3f rpos = robot->getRootNode()->getGlobalPose().block<3, 1>(0, 3);
Eigen::Vector3f rrpy = VirtualRobot::MathTools::eigen4f2rpy(robot->getRootNode()->getGlobalPose());
UI.spinBox_Pos_X->setValue(rpos[0]);